That does look like an ABI problem. Did you definitely sudo apt-get
dist-upgrade, and then rebuild your workspace (eg, rm -rf build devel;
catkin_make; source devel/setup.bash)?

(This type of question is best for ROS Answers, I think...)

On 13 January 2015 at 06:28, Enrico Corvaglia <enrico988@gmail.com> wrote:

> Hello to all the community.
> I'm writing this since I'm encountering errors when I launch my custom
> controllers written for a KUKA LWR arm, used in combination with Gazebo
> simulator. The error comes when I run the roslaunch command which loads
> such controllers.
>
> *[ERROR] [1421148091.366974261, 5.814000000]: Could not load class
> kuka_controllers/BacksteppingController: Failed to load library
> /home/enrico/catkin_ws/devel/lib//libkuka_controllers.so. Make sure that
> you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and
> that names are consistent between this macro and your XML. Error string:
> Could not load library (Poco exception =
> /home/enrico/catkin_ws/devel/lib//libkuka_controllers.so: undefined symbol:
> _ZN26forward_command_controller24ForwardCommandControllerIN18hardware_interface20EffortJointInterfaceEE8startingERKN3ros4TimeE)*
> *[ERROR] [1421148091.367239553, 5.814000000]: Could not load controller
> 'BacksteppingController' because controller type
> 'kuka_controllers/BacksteppingController' does not exist.*
> *[ERROR] [1421148091.367296142, 5.814000000]: Use 'rosservice call
> controller_manager/list_controller_types' to get the available types*
>
> The weird thing is that running the command suggested by ROS (rosservice
> call [...]) it actually returns all my controllers names. This error has
> been introduced after the last ROS software updates and before that it was
> working just fine. Also I have a call to PLUGINLIB_EXPORT_CLASS in my
> source, so it is not that the problem.
>
> As a note, the ROS built-in position controllers work, so it seems like a
> linking or a parsing error.
>
> Thanks in advance,
> Enrico C.
>
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